Despite remarkable progress of service robotics in recent years, it seems that a fully autonomous robot which would be able to solve everyday household tasks in a safe and reliable manner is still unachievable. To overcome this problem, we present solution for a semi-autonomous robot where a remote human operator may take over the robot control from an autonomous system to quickly asses the situation and carry out subtasks which cannot be finished automatically. A key component of our solution is the user interface based on a mixed reality 3D environment and fused sensor data which provides a high level of situational and spatial awareness for teleoperation as well as for telemanipulation. The robot control is based on low-cost commodity hardware, optionally including a 3D

mouse and stereoscopic display. The interface requires only a brief training and allows short task completion times even when operated by novice users. Its usefulness was verified in two controlled experiments.